In ChppPlanner::solveOneProblem, test direct path with all validators of device.

ChangeLog

+	44. In ChppPlanner::solveOneProblem, test direct path with all validators of device.
 	43. Added some tests in ChppPlanner::solveOneProblem() for robustness purposes.
 	42. In ChppPlanner::solveOneProblem, if path is null after calling rdmBuilder return KD_ERROR.
 	41. Added a method to interrupt the roadmap builder during path planning process.

src/hppPlanner.cpp

@@ -489,9 +489,7 @@ ktStatus ChppPlanner::solveOneProblem(unsigned int problemId)
     CkwsDirectPathShPtr directPath = steeringMethod->makeDirectPath(*initConfig, *goalConfig);
 
     if (directPath) {
-      double penetration = hppProblem.roadmapBuilder()->penetration();
-      CkwsValidatorDPCollisionShPtr dpValidator = CkwsValidatorDPCollision::create(hppDevice, penetration);
-      
+      CkwsDirectPathValidatorSetConstShPtr dpValidator = hppDevice->directPathValidators();
       dpValidator->validate(*directPath);
 
       if (directPath->isValid()) {